Vehicle control

ABSTRACT

A vehicle control system ( 10 ) including a vehicle motion control subsystem ( 12 ) that has an input receiving an intended driving demand ( 14 ) and a plurality of coordinator subsystems ( 16 ) for coordinating actuators of the vehicle. The vehicle motion control subsystem ( 12 ) communicates with the coordinator subsystems ( 16 ) to determine whether a single coordinator subsystem ( 16 ) can carry out the intended driving demand ( 14 ). The vehicle motion control subsystem ( 12 ) will distribute demand signals among one or more of the coordinator subsystems ( 16 ) to allow the vehicle to implement the intended driving demand ( 14 ).

BACKGROUND OF INVENTION

The present invention relates to a control system, and in particular toa control system for a motor vehicle.

Control systems for motor vehicles command various actuators of themotor vehicles to perform certain tasks. Examples of control systemsinclude traction control systems, anti-lock braking systems andstability control systems. Each of these control systems has aparticular function that is carried out when certain information issensed by the vehicle. For example, the anti-lock braking system willprevent the tires of the vehicle from locking during braking.Furthermore, vehicle control systems coordinate some or all of theactuators of the vehicle to produce a desired vehicle movement orprocedure.

Heretofore, total control structures for motor vehicles have includedcoordinating elements which convert a command from a higher hierarchicallevel into commands for elements of a lower hierarchical level. Thecontents of the commands, which are transmitted from above to below inthe hierarchical structure, define physical variables that determine theinterfaces between the individual hierarchical levels. The command flowis only from a higher hierarchical level to a lower hierarchical level.U.S. Pat. Nos. 5,351,776 and 6,154,688 disclose control systems whereinthe command flows only from the higher hierarchical level to the lowerhierarchical level. However, the aforementioned control systems do notrevise their commands to the lower hierarchical levels when theactuators being commanded by the lower hierarchical levels cannot carryout the commands.

Accordingly, an apparatus solving the aforementioned disadvantages andhaving the aforementioned advantages is desired.

SUMMARY OF INVENTION

One aspect of the present invention is to provide a method ofcontrolling a vehicle. The method includes the step of inputting anintended driving demand to a vehicle motion control subsystem, with theintended driving demand requesting a vehicle behavior modification. Themethod also includes the steps of proving a plurality coordinatorsubsystems, providing at least one actuator control subsystem for eachcoordinator subsystem, outputting actuator capabilities of the at leastone actuator control subsystem to an associated one of the plurality ofcoordinator subsystems, and outputting coordinator capabilities of eachcoordinator subsystem to the vehicle motion control subsystem. Themethod further includes the step of calculating at least one coordinatordemand signal with the vehicle motion control subsystem, with the atleast one coordinator demand signal being determined according to thecoordinator capabilities and the intended driving demand. The methodalso includes the step of outputting the at least one coordinator demandsignal to at least one of the coordinator subsystems. The method furtherincludes the step of calculating the at least one coordinator demandsignal with each of the at least one of the coordinator subsystems, withthe at least one actuator demand signal being determined according tothe actuator capabilities and the at least one coordinator demandsignal. The method also includes the step of outputting the at least oneactuator demand signal to the at least one actuator control subsystem. Acombination of each at least one actuator demand signal providesdirections for the at least one actuator control subsystem to performthe vehicle behavior modification of the intended driving demand.

Another aspect of the present invention is to provide a vehicle controlsystem comprising a vehicle motion control subsystem, a plurality ofcoordinator subsystems and at least one actuator control subsystem. Thevehicle motion control subsystem has a control input and a controloutput, with the control input communicating an intended driving demandto the vehicle motion control subsystem. The intended driving demandrequests a vehicle behavior modification. Each coordinator subsystemincludes a coordinator input and a coordinator output, with eachcoordinator subsystem communicating coordinator capabilities of thecoordinator subsystem to the system input of the vehicle motion controlsubsystem. At least one actuator control subsystem is provided for eachcoordinator subsystem. Each actuator control subsystem has an actuatoroutput communicating actuator capabilities of the actuator controlsubsystem to the coordinator input of an associated one of the pluralityof coordinator subsystems. The vehicle motion control subsystemcalculates at least one coordinator demand signal, with the at least onecoordinator demand signal being determined according to the coordinatorcapabilities and the intended driving demand. The vehicle motion controlsubsystem also outputs the at least one coordinator demand signal to thecoordinator input of at least one of the coordinator subsystems.Furthermore, each coordinator subsystem calculates at least one actuatordemand signal, with the at least one actuator demand signal beingdetermined according to the actuator capabilities and the at least onecoordinator demand signal. Additionally, each coordinator subsystemoutputs the at least one actuator demand signal to at least one actuatorcontrol subsystem. A combination of each at least one actuator demandsignal provides directions for the at least one actuator controlsubsystem to perform the vehicle behavior modification of the intendeddriving demand.

Yet another aspect of the present invention is to provide a method ofcontrolling a vehicle. The method includes the steps of receiving atleast one driver input from a driver of the vehicle and providing atleast one active assist program in the vehicle, with the at least oneactive assist program having an on setting and an off setting. Themethod also includes the steps of inputting an intended driving demandfor implementing a vehicle behavior modification into a vehicle motioncontrol subsystem, proving an implementation subsystem, and outputtingat least a portion the intended driving demand from the vehicle motioncontrol subsystem to the implementation subsystem. The intended drivingdemand is derived from a combination of the at least one driver inputand the at least one active input if the at least one active assistprogram is in the on setting and if the driver of the vehicle does notoverrule the at least one active assist program. Otherwise, the intendeddriving demand is derived from the at least one driver input.Accordingly, the vehicle control system provides for enhancedredistribution of functionality to avoid a loss of performance of thevehicle. The vehicle control system is easy to implement, capable of along operable life, and particularly adapted for the proposed use.

These and other features, advantages, and objects of the presentinvention will be further understood and appreciated by those skilled inthe art by reference to the following specification, claims and appendeddrawings.

BRIEF DESCRIPTION OF DRAWINGS

FIGS. 1A and 1B are schematics of a vehicle control system of thepresent invention.

FIG. 2 is a schematic of a portion of the vehicle control system of thepresent invention showing the internal processes for developing a drivetrain and brakes behavior modification demand signal.

FIG. 3 is a schematic of a portion of the vehicle control system of thepresent invention showing the internal processes for developing asteering behavior modification demand signal.

FIG. 4 is a schematic of a portion of the vehicle control system of thepresent invention showing the internal processes for developing asuspension behavior modification demand signal.

FIGS. 5A and 5B disclose a block diagram illustrating a methodology forcontrolling a vehicle using the vehicle control system of the presentinvention.

FIG. 6 discloses a block diagram illustrating a methodology forcontrolling a suspension of the vehicle using a suspension coordinatorsubsystem of the present invention.

FIG. 7 discloses a block diagram illustrating a methodology forcontrolling drive train and brakes of the vehicle using a drive trainand brakes coordinator subsystem of the present invention.

DETAILED DESCRIPTION

For purposes of description herein, it is to be understood that theinvention may assume various alternative orientations, except whereexpressly specified to the contrary. It is also to be understood thatthe specific devices and processes illustrated in the attached drawings,and described in the following specification are simply exemplaryembodiments of the inventive concepts defined in the appended claims.Hence, specific dimensions and other physical characteristics relatingto the embodiments disclosed herein are not to be considered aslimiting, unless the claims expressly state otherwise.

Referring to FIG. 1A, reference number 10 generally designates a firstportion of a vehicle control system embodying the present invention. Inthe illustrated example, the first portion 10 of the vehicle controlsystem includes a vehicle motion control subsystem 12 that has an inputreceiving an intended driving demand 14 and a plurality of coordinatorsubsystems 16 for coordinating actuators of the vehicle. The vehiclemotion control subsystem 12 communicates with the coordinator subsystems16 to determine the capabilities of the coordinator subsystems 16 forcarrying out the intended driving demand 14. The vehicle motion controlsubsystem 12 will distribute demand signals among one or more of thecoordinator subsystems 16 to allow the vehicle to implement the intendeddriving demand 14.

In the illustrated example, the vehicle control system comprises ahierarchy including five tiers of control levels for controlling vehiclebehavior modifications. FIG. 1A illustrates the input from the top twocontrol tiers and the bottom three control: tiers. The third levelcontrol tier includes the vehicle motion control subsystem 12 foroverall control of the six degrees of motion of the vehicle. The top twocontrol tiers produce the intended driving demand 14 that is input intothe vehicle motion control subsystem 12. The fourth level control tierincludes the coordinator subsystems 16. The coordinator subsystems caninclude a steering coordinator subsystem 18 for controlling steering ofthe vehicle, a drive train and brakes coordinator subsystem 20 forcontrolling a drive train and brakes of the vehicle, and a suspensioncoordinator subsystem 22 for controlling a suspension of the vehicle.All of the coordinator subsystems 16 of the fourth level control tiercommunicate with the vehicle motion control subsystem 12. The fifthlevel control tier includes actuator control subsystems 26 forcontrolling individual actuators of the steering coordinator subsystem18, the drive train and brakes coordinator subsystem 20, and thesuspension coordinator subsystem 22. Each actuator control subsystem 26communicates with one of the coordinator subsystems 16.

The illustrated vehicle motion control subsystem 12 receives inputs froma driver 11 of the vehicle and active assist programs for the vehicleand divides the inputs into individual commands for each of thecoordinator subsystems 16. As seen in FIG. 1B, a second portion 21 ofthe vehicle control system comprises a driver subsystem 15 and an activeassist subsystem 17 defining the top two control tiers of the vehiclecontrol system. A plurality of sensors 13 for sensing the driver inputsdirectly from the driver 11 of the vehicle input the driver inputs intothe driver subsystem 15. The driver inputs are preferably read from thedesired vehicle movement or behavior modification as specified by thedriver 11 of the vehicle as measured through driver controls. The driverinputs can include the position of a brake pedal as measured through asensor, the position of an acceleration pedal as measured through asensor, the position of a steering wheel as measured through a sensor,the gear range selection of the vehicle (e.g., gear range D telling thetransmission to use 1st, 2nd, 3rd, 4th and 5th gear, gear range 2telling the transmission to use 1st and 2nd gear, etc.), etc. The driversubsystem 15 forms the first level control tier of the controlhierarchy. All of the driver inputs are preferably input into the driversubsystem 15 at the first level control tier of the control hierarchyand are thereafter transferred to the active assist subsystem 17comprising the second level control tier of the control hierarchy.

In the illustrated example, the active assist subsystem 17 of the secondlevel control tier of the control hierarchy receives the output from thedriver subsystem 15 and, in certain situations, combines the output fromthe driver subsystem 15 with outputs from active assist programs of thevehicle to form the intended driving demand 14. Active assist programscan include active cruise control, active collision mitigation, lanekeeping aid and intelligent speed adaptation programs used by thevehicle. It is contemplated that other active assist programs can alsobe used. The active assist subsystem 17 of the control hierarchyreceives inputs from an environment evaluator 19 that interpretsmeasurement of the environment 23 around the vehicle measured throughsensors 25. The inputs from the environment evaluator are environmentaldata. For example, the environment evaluator 19 will detect objects andrecognize the terrain around the vehicle for helping to determine thedistance of a vehicle in front of the measuring vehicle for use indetermining if the vehicle should slow down while using the activecruise control to maintain a safe distance behind a leading vehicle orfor determining lane markings. The environment evaluator 23 can alsodetermine the location of the vehicle as measured by a globalpositioning satellite (GPS). The active assist programs have an onsetting wherein the active assist program outputs at least one activeinput and an off setting where the active assist program does not outputany signals. If no active assist programs are running (i.e., in an offsetting) or if the driver of the vehicle overrules all inputs from theactive assist programs, the intended driving demand 14 is derived fromthe driver inputs. If one or more active assist programs are running(i.e., in an on setting) and the driver of the vehicle does not overrulethe inputs from the active assist programs, the intended driving demandcomprises a combination of the commands from the driver inputs and theinputs from the active assist programs or the inputs from the activeassist programs alone. It is also contemplated that the intended drivingdemand 14 as described above can be input into the vehicle motioncontrol subsystem 12 from each driver control and active assist programseparately if only the bottom three control tiers of the vehicle controlsystem are used in a vehicle. Each of the driver inputs and the activeassist programs as described above are well known to those skilled inthe art.

The vehicle motion control subsystem 12 (FIG. 1A) receives the intendeddriving demand 14 from the second portion 21 of the vehicle controlsystem. In the illustrated example, the vehicle motion control subsystem12 will not be able to determine whether the intended driving demand 14is derived from the driver inputs and/or the active inputs. The vehiclemotion control subsystem 12 also receives inputs from sensors 29 on thevehicle 27 relaying vehicle state measurements of the vehicle 27. Thevehicle state measurements of the illustrated invention inputted intothe vehicle motion control subsystem 12 include the physicalcharacteristics of the vehicle as determined by a vehicle stateestimator 28 using the readings of the sensors 29 measuring thecharacteristics of the vehicle 27. The vehicle state measurements caninclude the traction of the vehicle, the motion of the vehicle in sixdirections (e.g., longitudinal, lateral, vertical (heave), yaw, roll,and pitch), etc. All of the vehicle state measurements define a vehiclestate of the vehicle. The vehicle motion control subsystem 12 receivesthe vehicle state measurements in order to determine what changes mustbe made to the vehicle to accomplish the intended driving demand 14. Thevehicle state measurements are also transferred to other control tiersas discussed below. All of the vehicle state measurements, methods ofsensing the vehicle, and equipment and methods used to determine thevehicle state measurements as described directly above are well known tothose skilled in the art.

In the illustrated example, the coordinator subsystems 16 communicatewith the vehicle motion control subsystem 12 for receiving inputs forcarrying out the intended driving demand 14. The coordinator subsystems16 preferably include the steering coordinator subsystem 18, the drivetrain and brakes coordinator subsystem 20, and the suspensioncoordinator subsystem 22. Each of the coordinator subsystems 16 includean input that receives a signal from the vehicle motion controlsubsystem 12 commanding the coordinator subsystem 16 to implement aparticular vehicle behavior modification. Therefore, the steeringcoordinator subsystem 18 receives a steering behavior modificationdemand signal conveying a steering behavior modification demand from thevehicle motion control subsystem 12. The steering behavior modificationdemand instructs the steering coordinator subsystem 18 to make asteering behavior modification (e.g., steer the vehicle in a certainlateral direction). Likewise, the drive train and brakes coordinatorsubsystem 20 receives a drive train and brakes behavior modificationdemand signal conveying a drive train and brakes behavior modificationdemand from the vehicle motion control subsystem 12. The drive train andbrakes behavior modification demand instructs the drive train and brakescoordinator subsystem 20 to make a drive train and brakes behaviormodification (e.g., move the vehicle in a certain longitudinaldirection). Moreover, the suspension coordinator subsystem 22 receives asuspension behavior modification demand signal conveying a suspensionbehavior modification demand from the vehicle motion control subsystem12. The suspension behavior modification demand instructs the suspensioncoordinator subsystem 22 to make a suspension behavior modification(e.g., manipulate the vehicle in a certain vertical (heave) direction).Each behavior modification demand of the coordinator subsystems 16 canalso affect the motion of the vehicle in other directions. For example,the steering coordinator subsystem 18 can affect the yaw motion of thevehicle by turning the front wheels of the vehicle and can affect theroll motion of the vehicle by turning (thereby causing the side of thevehicle with the smaller turning radius to roll upward). As additionalexamples, the drive train and brakes coordinator subsystem 20 can affectthe yaw motion by braking only one side of the vehicle and thesuspension coordinator subsystem 22 can affect the longitudinal motionof the vehicle by altering the suspension of the vehicle to provide forimproved traction. Furthermore, as discussed in more detail below, eachcoordinator subsystem 16 also provides an output to the vehicle motioncontrol subsystem 12 for communicating capabilities of the coordinatorsubsystems 16. The capabilities of the coordinator subsystems 16 are thecombination of the actuator control subsystems 26 communicating with anassociated coordinator subsystem 16. Although three coordinatorsubsystems 16 are shown and described herein, it is contemplated thatany number of coordinator subsystems 16 can be used in the vehiclecontrol system.

Once the illustrated coordinator subsystems 16 receive theirinstructions from the vehicle motion control subsystem 12, thecoordinator subsystems 16 delegate responsibilities for carrying out theinstruction from the vehicle motion control subsystem 12 and outputinstructions into the actuator control subsystems 26. In the illustratedembodiment, the steering coordinator subsystem 18 apportions thesteering behavior modification demand from the vehicle motion controlsubsystem 12 to a front-wheel steering control subsystem 30 and a rearwheel steering control subsystem 32. The front-wheel steering controlsubsystem 30 and the rear wheel steering control subsystem 32 primarilysteer the vehicle in a certain lateral direction as well as affectingmotion of the vehicle in other directions.

The illustrated drive train and brakes coordinator subsystem 20apportions the drive train and brakes behavior modification demand fromthe vehicle motion control subsystem 12 to a brake control subsystem 34controlling brakes of the vehicle, an engine control subsystem 36controlling an engine of the vehicle, a transmission control subsystem38 controlling a transmission of the vehicle, an all-wheel drive (AWD)control subsystem 35, an integrated starter/generator (ISG) controlsubsystem 37 controlling an integrated starter/generator and a batterymanagement control subsystem 39 controlling a battery. The brake controlsubsystem 34, the engine control subsystem 36, the transmission controlsubsystem 38, the all-wheel drive (AWD) control subsystem 35, theintegrated starter/generator (ISG) control subsystem 37 and the batterymanagement control subsystem 39 primarily move the vehicle in thelongitudinal direction as well as affect motion of the vehicle in otherdirections.

The illustrated suspension coordinator subsystem 22 apportions thesuspension behavior modification demand from the vehicle motion controlsubsystem 12 to a damping control subsystem 42 controlling damping ofthe suspension of the vehicle, a roll control subsystem 44 controllingroll of the vehicle and a leveling control subsystem 46 controlling alevel of the vehicle. The damping control subsystem 42 controllingdamping of the suspension of the vehicle, the roll control subsystem 44and the leveling control subsystem 46 primarily move the vehicle in theheave direction as well as affect motion of the vehicle in otherdirections. The actuator control subsystems 26 listed above areillustrative, and not exhaustive, of the actuator control subsystems 26that can be used in the vehicle control system. For example, a tirepressure control subsystem functionally located below the suspensioncoordinator subsystem 22 can also be employed.

FIG. 2 is a schematic of a portion of the vehicle control system of thepresent invention showing the internal processes for developing thedrive train and brakes behavior modification demand signal. First, thedriver inputs on a brake pedal and an acceleration pedal are measuredthrough a brake pedal sensor 100 and an acceleration pedal sensor 102,respectively. The driver input is measured on the brake pedal sensor 100and interpreted in the driver subsystem 15 as at least one of the forceof the pressure on the brake pedal, the travel distance of the brakepedal and the activation (depression without measuring the force) of thebrake pedal. The brake pedal sensor 100 transfers this information as abraking force request (i.e., deceleration of the mass of the vehicle) toa longitudinal force block 104 of the driver subsystem 15.

The driver input is measured on the acceleration pedal sensor 102 as thetravel distance or position of the acceleration pedal. The accelerationpedal sensor 102 will transfer this driver input as either a requestedacceleration or a requested velocity, depending on the driving mode ofthe vehicle. The driving mode of the vehicle can be determined by aswitch in the vehicle. In a first mode, if the vehicle is in a low speedmode as set by a switch or if a cruise control switch is activated, theacceleration pedal sensor 102 will transfer a longitudinal velocityrequest to a longitudinal velocity block 106. The second mode of thevehicle encompasses every other state of the vehicle not in the firstmode. In the second mode, the acceleration pedal sensor 102 willtransfer a traction force request (i.e., acceleration of the mass of thevehicle) to the longitudinal force block 104.

In the illustrated example, the longitudinal force block 104 willtransfer the force request (traction or braking) to an accelerationdetermination block 108 wherein the force request of the vehicle isdivided by the nominal mass of the vehicle (i.e., static, unloaded massof the vehicle) to obtain a mass independent acceleration request. Themass independent acceleration request is transferred to a firstarbitration block 110 in the active assist subsystem 17. Thelongitudinal velocity block 106 transfers the longitudinal velocityrequest to a velocity control block 112 in the active assist subsystem17 if the longitudinal velocity request comes from the cruise control orto a vehicle force distribution block 114 in the vehicle motion controlsubsystem 12 (through the active assist subsystem 17) if thelongitudinal velocity request comes from the low speed mode. Preferably,the driver subsystem 15 and the active assist subsystem 17 communicateto each other through one node such that all information coming from thedriver subsystem 15 is transferred together to the active assistsubsystem 17. Additionally, only the driver subsystem 15 has to bealtered if driver inputs are added or removed from communicating withthe vehicle control system.

The illustrated active assist subsystem 17 includes the firstarbitration block 110 and the velocity control block 112. The velocitycontrol block 112 includes the active assist programs that affectlongitudinal motion of the vehicle. When the velocity control block 112receives the longitudinal velocity request, the velocity control block112 will compare the longitudinal velocity request, possibly modified bya radar signal (i.e., environmental data) from the environment evaluator19 if adaptive cruise control or collision mitigation is operating, toan actual velocity of the vehicle (as measured by the sensors 29 on thevehicle 27 and the vehicle state estimator 28 and transferred from thevehicle motion control subsystem 12 to the active assist subsystem 17).With the comparison, the velocity control block 112 can determine therequired acceleration of the vehicle to achieve the velocity of thelongitudinal velocity request. The required acceleration (i.e., at leastone active input) of the vehicle is then transferred from the velocitycontrol block 112 to the first arbitration block 110.

The required acceleration of the vehicle from the vehicle control block112 (if applicable) is compared to the requested acceleration from theacceleration determination block 108 in the first arbitration block 110to determine if the driver wants to overrule the required accelerationfrom the velocity control block 112 by pressing the acceleration pedalor the brake pedal (as determined by the occurrence of the requestedacceleration). For example, the driver of the vehicle may want to becloser to a preceding vehicle that the adaptive cruise control isprogrammed to allow. The first arbitration block 110 will then send outa desired acceleration to a mass modifier block 116 in the vehiclemotion control subsystem 12. The desired acceleration will be therequested acceleration if the velocity control block 112 is notoutputting a signal (i.e., the at least one active input) or if thefirst arbitration block 110 determines that the driver wants to overrulethe required acceleration (i.e., the at least one active input).Otherwise, the first arbitration block 110 will send out the requiredacceleration as transferred from the velocity control block 112.Therefore, the drive train and brake portion of the intended drivingdemand will be derived from the at least one driver input and the atleast one active input if the at least one active assist program is inthe on setting and the driver of the vehicle does not override the atleast one active input. Otherwise, the drive train and brake portion ofthe intended driving demand will be the at least one driver input.Preferably, the active assist subsystem 17 and the vehicle motioncontrol subsystem 12 communicate to each other through one node suchthat all information coming from the active assist subsystem 17 istransferred together to the vehicle motion control subsystem 17.Additionally, only the active assist subsystem 17 has to be altered ifactive assist programs are added or removed from the vehicle controlsystem.

In the illustrated example, the vehicle motion control subsystem 12 willreceive the requested acceleration or the required acceleration from thefirst arbitration block 110 of the active assist subsystem 17 or therequested velocity from the longitudinal velocity block 106 of thedriver subsystem 15 (via the active assist subsystem 17). The requestedacceleration, the required acceleration and/or the requested velocityform a longitudinal movement portion of the intended driving demand 14.The vehicle motion control subsystem 12 receives the requestedacceleration or the required acceleration in the mass modifier block116. The mass modifier block 116 converts the requested acceleration orthe required acceleration by the actual mass (one of the vehicle statemeasurements) of the vehicle as reported to the vehicle motion controlsubsystem 12 through the vehicle state estimator 28 to form a desiredlongitudinal force. The mass modifier block 116 then passes the desiredlongitudinal force to the vehicle force distribution block 114. Thevehicle force distribution block 114 then modifies the desiredlongitudinal force or velocity request into a wheel torque request orwheel velocity request, respectively, for each of the four wheels of thevehicle to be passed on to the drive train and brakes coordinatorsubsystem 20. The force distribution block 114 will also modify therequested wheel torque or velocity to accomplish non-longitudinaldemands of the intended driving demand, such as creating a yaw momentthrough braking one side of the vehicle (i.e., negative wheel torque).The wheel torque request or the wheel velocity request is the drivetrain and brakes behavior modification demand signal.

FIG. 3 is a schematic of a portion of the vehicle control system of thepresent invention showing the internal processes for developing thesteering behavior modification demand signal. First, the driver input ona steering wheel is measured through a steering wheel sensor 120. Thedriver input is measured on the steering wheel sensor 120 as at leastone of the angle of the steering wheel and the torque of the steeringwheel. The steering wheel sensor 120 transfers this information to asteering model block 122 of the driver subsystem 15. Using a referencemodel in the steering model block 122, the steering model block 122 candetermine the driver requests for wheel angles, yaw rate and vehicleslip angle. The steering reference model and the method of determiningthe desired wheel angles, yaw rate and vehicle slip angle are well knownto those skilled in the art. Angles for the front pair or rear pair ofwheels can typically only be requested in a steer-by-wire vehicle. Thedesired wheel angles, yaw rate and vehicle slip angle are sent from thesteering model block 122 to a second arbitration block 124 in the activeassist subsystem 17. As stated above, the driver subsystem 15 and theactive assist subsystem 17 preferably communicate to each other throughone node such that all information coming from the driver subsystem 15is transferred together to the active assist subsystem 17 and foraltering the driver subsystem 15 alone for adding or removing driverinputs.

The illustrated active assist subsystem 17 includes the secondarbitration block 124 and a virtual driver block 126. The virtual driverblock 126 includes the portion of the active assist programs that affectthe steering or lateral motion of the vehicle. For example, a collisionmitigation program will output a signal requesting lateral motion when aradar signal from the environment evaluator 19 tells the program that aside vehicle is too close to the controlled vehicle. The virtual driverblock 126 will have an output of required wheel angles, yaw rate andvehicle slip angle (i.e., the at least one active input) to the secondarbitration block 124. The second arbitration block 124 will compare theoutput from the steering model block 122 to the output from the virtualdriver block 126 to determine if the driver inputs for steering shouldbe overruled by the output from the virtual driver block 126. Forexample, the virtual driver block 124 may overrule the steering of thedriver of the vehicle for collision mitigation. Therefore, the steeringportion of the intended driving demand will be the at least one activeinput if the at least one active assist program is in the on setting andthe at least one active input does not override the at least one driverinput. Otherwise, the steering portion of the intended driving demandwill be derived from the at least one driver input. As stated above, theactive assist subsystem 17 and the vehicle motion control subsystem 12preferably communicate to each other through one node such that allinformation coming from the active assist subsystem 17 is transferredtogether to the vehicle motion control subsystem 12 and for altering theactive assist subsystem 17 alone for adding or removing active assistprograms.

In the illustrated example, the vehicle motion control subsystem 12 willreceive the desired wheel angles, yaw rate and vehicle slip angle fromthe arbitration block 122 of the active assist subsystem 17. The desiredwheel angles, yaw rate and vehicle slip angle are input into a yaw andslip angle control block 128 in the vehicle motion control subsystem 12.The yaw and slip angle control block 128 will compare the requested yawrate to the actual yaw rate (one of the vehicle state measurementsreported from the vehicle state estimator 28) to form a desired yawmoment. In case of four wheel steering, the yaw and slip angle controlblock 128 will also compare the requested vehicle slip rate to theactual vehicle slip rate (one of the vehicle state measurements reportedfrom the vehicle state estimator 28) to form a desired slip rate that isoutput as desired wheel angles. The desired yaw moment and the desiredwheel angles are output from the yaw and slip angle control block 128 tothe vehicle force distribution block 114 in the vehicle motion controlsubsystem 12. The method of determining the yaw moment and the desiredwheel angles are well known to those skilled in the art. The forcedistribution block 114 translates the desired yaw moment into yaw wheelangles required to achieve the desired yaw moment and combines the yawwheel angles with the desired wheel angles to form an overall wheelangle request. The force distribution block 114 will also modify thedesired wheel angles to accomplish non-lateral demands of the intendeddriving demand, such as creating a suspension behavior modificationthrough steering (e.g., forcing the vehicle to roll). The overall wheelangle request is the steering behavior modification demand signal.

FIG. 4 is a schematic of a portion of the vehicle control system of thepresent invention showing the internal processes for developing thesuspension behavior modification demand signal. The driver typically hasno pedal or lever that dynamically controls the suspension behavior ofthe vehicle, but can request specific suspension behavior 130 of thesuspension for certain dynamic events or for the vehicle in any mode(e.g., leveling height or damping mode). Typically, the driver requestsa certain operation mode and/or parameter setting for the vehicle thatforms the suspension or vertical portion of the intended driving demand14. In the vehicle motion control subsystem 12, the vehicle forcedistribution block 114 will use suspension behavior modificationprograms (e.g., active suspension, electronic stability program, etc.)to modify the vehicle with a roll torque, pitch torque and heave force.The roll torque, pitch torque and heave force are translated into adesired vertical force for each wheel that is output from the vehiclemotion control subsystem 12 to the suspension coordination subsystem 22.The force distribution block 114 will also modify the desired verticalforce for each wheel to accomplish non-vertical demands of the intendeddriving demand, such as creating a steering behavior modificationthrough suspension behavior modification (e.g., forcing the vehicle toturn). The requested vertical force on the wheels is the suspensionbehavior modification demand signal.

The illustrated vehicle control system of the present invention enhancesthe performance of the vehicle by distributing commands from the vehiclemotion control subsystem 12 to the coordinator subsystems 16 based uponphysical capabilities of the actuator control subsystems 26. Referringto FIGS. 5A and 5B, a method 50 of controlling a vehicle with thevehicle control system is shown. Beginning at step 52 of the method 50of controlling the vehicle, the driver inputs from the driver 11 of thevehicle are inputted into the driver subsystem 15. The driver inputs areprocessed as discussed above and then sent to the active assistsubsystem 17 at step 54.

At this point, the vehicle control system determines if any activeassist programs are in the on setting at decision step 56. If the activeassist program is in the on setting and the driver of the vehicle doesnot overrule all active inputs, a combination of the at least one driverinput and at least one active input or at least one active input alonedefines the intended driving demand 14. Therefore, if the active assistprogram is in the on setting and the driver of the vehicle does notoverrule all active inputs, the intended driving demand 14 defined byeither a combination of the driver inputs and active input from theactive assist programs or the at least one active input alone is inputinto the vehicle motion control subsystem 12 at step 58. However, if theactive assist program is in the off setting or the driver of the vehicleoverrules all active inputs, the driver inputs define the intendeddriving demand 14. Therefore, if the at least one active assist programis in the off setting and/or the driver of the vehicle overrules theactive inputs, the intended driving demand 14 defined by the driverinputs is input into the vehicle motion control subsystem 12 at step 60.

The next three steps in the method of controlling a vehicle occurcontinuously, even if the intended driving demand 14 is not being inputinto the vehicle motion control subsystem 12. First, the vehicle statemeasurements are inputted into the vehicle motion control subsystem 12from the vehicle state estimator 28 and data therefrom is transferred toeach control tier in the vehicle control system at step 62. Second, thecoordinator subsystems 16 will determine their capabilities at step 64.As discussed in more detail below, the capabilities of each coordinatorsubsystem 16 are a combination of all of the capabilities of theactuator control subsystems 26 functionally located under eachcoordinator subsystem 16 as determined by the data of the vehicle statemeasurements and measurements from actuator state estimatorscommunicating with each actuator control subsystem 26. For example, afirst one of the coordinator subsystems 16 can be the drive train andbrakes coordinator subsystem 20 determining that it is capable ofproviding up to 3.0 Newton meters of braking wheel torque as measured bya combination of the braking wheel torque capabilities of the actuatorcontrol subsystems 26 communicating with the drive train and brakescoordinator subsystem 20. Although the drive train and brakescoordinator subsystem 20 is used in the above example, the coordinatorsubsystems 16 in step 64 could be any of the coordinator subsystems 16.Third, the coordinator subsystems 16 will output their capabilities tothe vehicle motion control subsystem 12 at step 66.

After the intended driving demand 14 has been input into the vehiclemotion control subsystem 12 at step 58 or 60, the vehicle motion controlsubsystem 12 will calculate at least one of a first demand signal, asecond demand signal and a third demand signal at step 68. Thecalculation at step 68 is dependent on the capabilities of the first,second and third coordinator subsystems 16. The demand signals to thecoordinator subsystems 16 will preferably not demand more from thecoordinator subsystems 16 than a particular coordinator subsystem 16 iscapable of providing as determined by the capability of the particularcoordinator subsystem 16. For example, if the steering coordinatorsubsystem 18 is only capable of providing 3.0 Newton meters of yawtorque by altering the angles of the wheels and the intended drivingdemand requires 3.5 Newton meters of yaw torque, the vehicle motioncontrol subsystem 12 will calculate a first demand signal for thesteering coordinator subsystem 18 for 3.0 Newton meters (or less) of yawtorque and will send out a second demand signal to the drive train andbrakes coordinator 20 requesting 0.5 Newton meters of yaw torque byinstructing the drive train and brakes coordinator 20 to brake (brakingwheel torque) one side of the vehicle (if possible). Therefore, thevehicle motion control subsystem 12 can output the first demand signal,the second demand signal and/or the third demand signal to the steeringcoordinator subsystem 18, the drive train and brakes coordinatorsubsystem 20 and the suspension coordinator subsystem 22, respectively,to accomplish the 3.5 Newton meters of yaw torque. Preferably, thevehicle motion control subsystem 12 will send out demand signals that donot require the coordinator subsystems 16 to perform up to their fullcapabilities. Therefore, the demand signals sent to each coordinatorsubsystem 16 will depend on the capabilities of the coordinatorsubsystem 16 and/or the capabilities of the other coordinator subsystems16. The demand signal sent to a first coordinator subsystem 16, whenmore than one demand signal is calculated, will depend on the demandsignal sent to a second coordinator subsystem 16, which depends on thecapabilities of the second coordinator subsystem 16.

The at least one of the first demand signal, the second demand signaland the third demand signal are then output from the vehicle motioncontrol subsystem 12 to at least one of the first, second and thirdcoordinator subsystems 16, respectively, at step 70. Finally, the atleast one of the first, second and third coordinator subsystems 16, viathe actuator control subsystems 26, perform the vehicle behaviormodification at step 72.

The illustrated suspension coordinator subsystem 22 of the presentinvention also enhances the performance of the suspension of the vehicleby distributing commands from the suspension coordinator subsystem 22 tothe actuator control subsystems 26 functionally located below thesuspension coordinator subsystem 22 based upon physical capabilities ofthe actuator control subsystems 26. Referring to FIG. 6, a method 200 ofcontrolling a suspension of a vehicle with the suspension coordinatorsubsystem 22 subsystem is shown. Beginning at step 202 of the method 200of controlling the suspension of the vehicle, the suspension behaviormodification demand signal is inputted into the suspension coordinatorsubsystem 22. The suspension behavior modification demand signal is asignal sent to the suspension coordinator subsystem 22 directing thesuspension coordinator subsystem 22 to perform a particular behaviormodification of the suspension of the vehicle (i.e., the suspensionbehavior modification).

The actuator control subsystems 26 receive the vehicle statemeasurements from the vehicle state estimator 28 (via the motion controlsubsystem 12 and the suspension coordinator subsystem 22) that providethe state of the vehicle and actuator state measurements from anactuator state estimator that provide the state of the actuators at step204. As seen in FIG. 1, the vehicle state measurements are preferablytransferred to the actuator control subsystems 26 through the vehiclemotion control subsystem 12 and the suspension coordinator subsystem 22,although it is contemplated that the vehicle state measurements could bedirectly inputted into the actuator control subsystems 26. The actuatorstate measurements are preferably inputted directly into the actuatorcontrol subsystems 26. After the vehicle state measurements and actuatorstate measurements are inputted into the actuator control subsystems 26,the actuator control subsystems 26 will determine their capabilities toperform functions with the vehicle in the state of the vehicle statemeasurements and actuator state measurements at step 206. The vehiclestate measurements are used to determine the capabilities of theactuator control subsystems 26 because the vehicle state measurementswill communicate the speed of the vehicle, the movement of the vehiclein six directions, etc. to the actuator control subsystems 26, all ofwhich are used along with the actuator state measurements (which providethe current state of the actuators of and controlled by the actuatorcontrol subsystems 26) to determine the capabilities of the actuatorcontrol subsystems 26. For example, a first actuator control subsystem26 can be the leveling control subsystem 46 determining that it iscapable of providing up to 3.0 Newtons of vertical force as determinedby the load of the vehicle (a vehicle state measurement) and possibleair input into an air-suspension level-control system (an actuator statemeasurement). Although the leveling actuator control subsystem 46 isused in the above example, the actuator control subsystem 26 could beany of the actuator control subsystems 26 under the suspensioncoordinator subsystem 22. Furthermore, although the step 202 ofinputting the suspension behavior modification demand into thesuspension coordinator subsystem 22 is shown as occurring before thestep 204 of receiving the vehicle state measurements and the actuatorstate measurements by the first actuator control subsystem 26 and thestep 206 of determining the actuator capabilities of the actuatorcontrol subsystems 26, steps 204 and 206 can occur simultaneously to orbefore the step 202 of inputting the suspension behavior modificationdemand into the suspension coordinator subsystem 22. Preferably, bothsteps 204 and 206 will occur continuously in the vehicle control system.

After the actuator control subsystems 26 have determined theircapabilities, each actuator control subsystem 26 will output acapability signal to the suspension coordinator subsystem 22communicating the capabilities of each actuator control subsystem 26 atstep 208. At this point, the suspension coordinator subsystem 22 willthen calculate at least one partial suspension behavior modificationdemand signal at step 210 (along with combining the capabilities of theactuator control system 26 to form the coordinator capability of thesuspension coordinator subsystem 22 for reporting to the vehicle motioncontrol subsystem 12 as discussed above). A first partial suspensionbehavior modification demand signal will tell a first actuator controlsubsystem 26 to perform within its first capabilities. Likewise, asecond partial suspension behavior modification demand signal will tella second actuator control subsystem 26 to perform within its secondcapabilities. Moreover, a third partial suspension behavior modificationdemand signal will tell a third actuator control subsystem 26 to performwithin its third capabilities. Consequently, the first partialsuspension behavior modification demand signal, the second partialsuspension behavior modification demand signal and/or the third partialsuspension behavior modification demand signal will provide directionsfor a first actuator control subsystem 26, the second actuator controlsubsystem 26 and/or the third actuator control subsystem 26,respectively, to perform the suspension behavior modification of thesuspension behavior modification demand signal. Furthermore, the firstpartial suspension behavior modification demand signal, the secondpartial suspension behavior modification demand signal and the thirdpartial suspension behavior modification demand signal are thereforecalculated according to the first capabilities of the first actuatorcontrol subsystem 26, the second capabilities of the second actuatorcontrol subsystem 26 and/or the third capabilities of the third actuatorcontrol subsystem 26. For example, if the suspension behaviormodification demand signal requires more from a single actuator controlsubsystem than it is capable of providing (as determined by itscapabilities), more than one partial suspension behavior modificationdemand signal will be calculated, with a first partial suspensionbehavior modification demand signal being determined according to thecapabilities of a first actuator control system (i.e., requesting thefirst actuator control system to perform within its capabilities) and asecond partial suspension behavior modification demand signal thatdepends on the capabilities of the first actuator control subsystem (asuspension behavior modification demand of the suspension behaviormodification demand signal remaining after the first partial suspensionbehavior modification demand signal is removed).

At this point, the at least one of the first partial suspension behaviormodification demand signal, the second partial suspension behaviormodification demand signal and the third partial suspension behaviormodification demand signal are output from the suspension coordinatorsubsystem 22 to at least one of the first, second and third actuatorcontrol subsystems 26, respectively, at step 212. Finally, the at leastone of the first, second and third actuator control subsystems 26perform the suspension behavior modification at step 214. Although onlythree actuator control subsystems 26 are disclosed in the illustratedmethod 200 of controlling the suspension of the vehicle with thesuspension coordinator controller 22 and the vehicle control system, itis contemplated that any number of actuator control subsystems 26 couldbe used.

The illustrated drive train and brakes coordinator subsystem 22 of thepresent invention also enhances the performance of the drive train andbrakes of the vehicle by distributing commands from the drive train andbrakes coordinator subsystem 22 to the actuator control subsystems 26based upon physical capabilities of the actuator control subsystems 26functionally located below the drive train and brakes coordinatorsubsystem 22. Referring to FIG. 7, a method 300 of controlling a drivetrain and brakes of a vehicle with the drive train and brakescoordination 22 subsystem is shown. Beginning at step 302 of the method300 of controlling the drive train and brakes of the vehicle, the drivetrain and brakes behavior modification demand signal is inputted intothe drive train and brakes coordinator subsystem 22. The drive train andbrakes behavior modification demand signal is a signal sent to the drivetrain and brakes coordinator subsystem 22 directing the drive train andbrakes coordinator subsystem 22 to perform a particular behaviormodification of the drive train and brakes of the vehicle (i.e., thedrive train and brakes behavior modification).

The actuator control subsystems 26 receive the vehicle statemeasurements from the vehicle state estimator 28 (via the motion controlsubsystem 12 and the drive train and brakes coordinator subsystem 22)that provide the state of the vehicle and actuator state measurementsfrom an actuator state estimator that provide the state of the actuatorsat step 304. As seen in FIG. 1, the vehicle state measurements arepreferably transferred to the actuator control subsystems 26 through thevehicle motion control subsystem 12 and the drive train and brakescoordinator subsystem 22, although it is contemplated that the vehiclestate measurements could be directly inputted into the actuator controlsubsystems 26. The actuator state measurements are preferably inputteddirectly into the actuator control subsystems 26. After the vehiclestate measurements and actuator state measurements are inputted into theactuator control subsystems 26, the actuator control subsystems 26 willdetermine their capabilities to perform functions with the vehicle inthe state of the vehicle state measurements and actuator statemeasurements at step 306. The vehicle state measurements are used todetermine the capabilities of the actuator control subsystems 26 becausethe vehicle state measurements will communicate the speed of thevehicle, the movement of the vehicle in six directions, etc. to theactuator control subsystems 26, all of which are used along with theactuator state measurements (which provide the current state of theactuators of and controlled by the actuator control subsystems 26) todetermine the capabilities of the actuator control subsystems 26. Forexample, a first actuator control subsystem 26 can be the engine controlsubsystem 36 determining that it is capable of providing up to 3.0Newton meters of wheel torque as determined by the speed of the vehicle(a vehicle state measurement) and possible fuel input into an engine (anactuator state measurement). Although the engine control subsystem 36 isused in the above example, the actuator control subsystem 26 could beany of the actuator control subsystems 26 under the drive train andbrakes coordinator subsystem 22. Furthermore, although the step 302 ofinputting the drive train and brakes behavior modification demand intothe drive train and brakes coordinator subsystem 22 is shown asoccurring before the step 304 of receiving the vehicle statemeasurements and the actuator state measurements by the first actuatorcontrol subsystem 26 and the step 306 of determining the actuatorcapabilities of the actuator control subsystems 26, steps 304 and 306can occur simultaneously to or before the step of inputting the drivetrain and brakes behavior modification demand into the drive train andbrakes coordinator subsystem 22. Preferably, both steps 304 and 306 willoccur continuously in the vehicle control system.

After the actuator control subsystems 26 have determined theircapabilities, each actuator control subsystem 26 will output acapability signal to the drive train and brakes coordinator subsystem 22communicating the capabilities of each actuator control subsystem 26 atstep 308. At this point, the drive train and brakes coordinatorsubsystem 22 will then calculate at least one partial drive train andbrakes behavior modification demand signal at step 310 (along withcombining the capabilities of the actuator control system 26 to form thecoordinator capability of the drive train and brakes coordinatorsubsystem 22 for reporting to the vehicle motion control subsystem 12 asdiscussed above). A first partial drive train and brakes behaviormodification demand signal will tell a first actuator control subsystem26 to perform within its first capabilities. Likewise, a second partialdrive train and brakes behavior modification demand signal will tell asecond actuator control subsystem 26 to perform within its secondcapabilities. Moreover, a third partial drive train and brakes behaviormodification demand signal will tell a third actuator control subsystem26 to perform within its third capabilities. Consequently, the firstpartial drive train and brakes behavior modification demand signal, thesecond partial drive train and brakes behavior modification demandsignal and/or the third partial drive train and brakes behaviormodification demand signal will provide directions for a first actuatorcontrol subsystem 26, the second actuator control subsystem 26 and/orthe third actuator control subsystem 26, respectively, to perform thedrive train and brakes behavior modification of the drive train andbrakes behavior modification demand signal. Furthermore, the firstpartial drive train and brakes behavior modification demand signal, thesecond partial drive train and brakes behavior modification demandsignal and the third partial drive train and brakes behaviormodification demand signal are therefore calculated according to thefirst capabilities of the first actuator control subsystem 26, thesecond capabilities of the second actuator control subsystem 26 and thethird capabilities of the third actuator control subsystem 26. Forexample, if the drive train and brakes behavior modification demandsignal requires more from a single actuator control subsystem than it iscapable of providing (as determined by its capabilities), more than onepartial drive train and brakes behavior modification demand signal willbe calculated, with a first partial drive train and brakes behaviormodification demand signal being determined according to thecapabilities of a first actuator control system (i.e., requesting thefirst actuator control system to perform within its capabilities) and asecond partial drive train and brakes behavior modification demandsignal that depends on the capabilities of the first actuator controlsubsystem (a drive train and brakes behavior modification demand of thedrive train and brakes behavior modification demand signal remainingafter the first partial drive train and brakes behavior modificationdemand is removed).

At this point, the at least one of the first partial drive train andbrakes behavior modification demand signal, the second partial drivetrain and brakes behavior modification demand signal and the thirdpartial drive train and brakes behavior modification demand signal areoutput from the drive train and brakes coordinator subsystem 22 to atleast one of the first, second and third actuator control subsystems 26,respectively, at step 312. Finally, the at least one of the first,second and third actuator control subsystems 26 perform the drive trainand brakes behavior modification at step 314. Although only threeactuator control subsystems 26 are disclosed in the illustrated method300 of controlling the drive train and brakes of the vehicle with thedrive train and brakes coordinator controller 22 and the vehicle controlsystem, it is contemplated that any number of actuator controlsubsystems 26 could be used.

The vehicle control system or any component thereof (e.g., eachsubsystem or subsystems grouped together) may include a general-purposemicroprocessor-based controller, and may include a commerciallyavailable off-the-shelf controller. The vehicle control system orcomponent thereof preferably includes a processor and memory for storingand processing software algorithms which processes inputs and providesoutput control signals. Preferably, all components (of a certain size)of the vehicle control system 10 are divided among the availableelectronic control units in the vehicle based on available memory,calculation power, bus capacity, safety requirements, etc. It is furthernoted that all steps shown in FIGS. 5A–7 are preferably repeatedlyexecuted, possibly at different communications frequencies.

Although the illustrated vehicle control system is illustrated as beingan integral unit, the subsystems of the vehicle control system can beused in combination with other subsystems not disclosed herein. Forexample, the driver subsystem 15, the active assist subsystem 17 and thevehicle motion control subsystem 12 can be used with any implementationsubsystem, wherein the implementation subsystem handles the function ofimplementing the commands from the vehicle motion control subsystem.Furthermore, the driver subsystem 15 and the active assist subsystem 17can be used with any vehicle control and implementation subsystem,wherein the vehicle control and implementation subsystem receives theintended driving demand 14 from the active assist subsystem 17 andimplements the intended driving demand 14 with the vehicle. Likewise,the vehicle motion control subsystem 12, the coordinator subsystems 16and the actuator control subsystems 26 can be used to implement anyintended driving demand 14 coming directly from the driver and/or activeassist programs or from anywhere else. Finally, each of the coordinatorsubsystems 16 can be used separately or in combination with subsystemsvarying from those disclosed herein. Further combinations will bereadily apparent to those skilled in the art.

It will be readily appreciated by those skilled in the art thatmodifications may be made to the invention without departing from theconcepts disclosed herein. The controllers can be interconnected via aservice data bus of the vehicle or are hard-wired together. Furthermore,the controllers could be implemented in any of a number ofmicroprocessor based controllers. While digital controllers aredescribed herein, it should be appreciated that the controllers couldalternatively be in analog circuitry. Such modifications are to beconsidered as included in the following claims, unless these claims bytheir language expressly state otherwise.

1. A method of controlling a vehicle comprising: inputting an intendeddriving demand to a vehicle motion control subsystem, the intendeddriving demand requesting a vehicle behavior modification; providing aplurality of coordinator subsystems; providing at least one actuatorcontrol subsystem for each coordinator subsystem; outputting actuatorcapabilities of the at least one actuator control subsystem to anassociated one of the plurality of coordinator subsystems; outputtingcoordinator capabilities of each coordinator subsystem to the vehiclemotion control subsystem; calculating at least one coordinator demandsignal with the vehicle motion control subsystem, the at least onecoordinator demand signal being determined according to the coordinatorcapabilities and the intended driving demand; outputting the at leastone coordinator demand signal to at least one of the coordinatorsubsystems; calculating at least one actuator demand signal with each ofthe at least one of the coordinator subsystems, the at least oneactuator demand signal being determined according to the actuatorcapabilities and the at least one coordinator demand signal outputted tothe at least one of the coordinator subsystems; and outputting the atleast one actuator demand signal to the at least one actuator controlsubsystem; wherein a combination of each at least one actuator demandsignal provides directions for the at least one actuator controlsubsystem to perform the vehicle behavior modification of the intendeddriving demand.
 2. A method of controlling a vehicle comprising:inputting an intended driving demand to a vehicle motion controlsubsystem, the intended driving demand requesting a vehicle behaviormodification; providing a plurality of coordinator subsystems; providingat least one actuator control subsystem for each coordinator subsystem;outputting actuator capabilities of the at least one actuator controlsubsystem to an associated one of the plurality of coordinatorsubsystems; outputting coordinator capabilities of each coordinatorsubsystem to the vehicle motion control subsystem; calculating at leastone coordinator demand signal with the vehicle motion control subsystem,the at least one coordinator demand signal being determined according tothe coordinator capabilities and the intended driving demand; outputtingthe at least one coordinator demand signal to at least one of thecoordinator subsystems; calculating at least one actuator demand signalwith each of the at least one of the coordinator subsystems, the atleast one actuator demand signal being determined according to theactuator capabilities and the at least one coordinator demand signaloutputted to the at least one of the coordinator subsystems; outputtingthe at least one actuator demand signal to the at least one actuatorcontrol subsystem; wherein a combination of each at least one actuatordemand signal provides directions for the at least one actuator controlsubsystem to perform the vehicle behavior modification of the intendeddriving demand; and receiving at least one driver input from a driver ofthe vehicle; providing at least one active assist program having atleast one active input, the at least one active assist program having anon setting wherein the at least one active assist program outputs atleast one active input and an off setting wherein the at least oneactive assist program does not output at least one active input; andreceiving at least one active input from the at least one active assistprogram if the at least one active assist program is in the on setting;wherein a combination of the at least one driver input and the at leastone active input define the intended driving demand if the at least oneactive assist program is in the on setting and if the driver of thevehicle does not override the at least one active assist program; andwherein the at least one driver input defines the intended drivingdemand if the at least one active assist program is in the off settingor the driver of the vehicle overrides the at least one active assistprogram.
 3. The method of controlling a vehicle of claim 2, furtherincluding: inputting environmental data into the at least one activeassist program.
 4. A method of controlling a vehicle comprising:inputting an intended driving demand to a vehicle motion controlsubsystem, the intended driving demand requesting a vehicle behaviormodification; providing a plurality of coordinator subsystems; providingat least one actuator control subsystem for each coordinator subsystem;outputting actuator capabilities of the at least one actuator controlsubsystem to an associated one of the plurality of coordinatorsubsystems; outputting coordinator capabilities of each coordinatorsubsystem to the vehicle motion control subsystem; calculating at leastone coordinator demand signal with the vehicle motion control subsystem,the at least one coordinator demand signal being determined according tothe coordinator capabilities and the intended driving demand; outputtingthe at least one coordinator demand signal to at least one of thecoordinator subsystems; calculating at least one actuator demand signalwith each of the at least one of the coordinator subsystems, the atleast one actuator demand signal being determined according to theactuator capabilities and the at least one coordinator demand signaloutputted to the at least one of the coordinator subsystems; andoutputting the at least one actuator demand signal to the at least oneactuator control subsystem; wherein a combination of each at least oneactuator demand signal provides directions for the at least one actuatorcontrol subsystem to perform the vehicle behavior modification of theintended driving demand; and wherein the plurality of coordinatorsubsystems include a suspension coordinator subsystem, a steeringcoordinator subsystem and a drive train and brakes coordinatorsubsystem.
 5. A method of controlling a vehicle comprising: inputting anintended driving demand to a vehicle motion control subsystem, theintended driving demand requesting a vehicle behavior modification;providing a plurality of coordinator subsystems; providing at least oneactuator control subsystem for each coordinator subsystem; outputtingactuator capabilities of the at least one actuator control subsystem toan associated one of the plurality of coordinator subsystems; outputtingcoordinator capabilities of each coordinator subsystem to the vehiclemotion control subsystem; calculating at least one coordinator demandsignal with the vehicle motion control subsystem, the at least onecoordinator demand signal being determined according to the coordinatorcapabilities and the intended driving demand; outputting the at leastone coordinator demand signal to at least one of the coordinatorsubsystems; calculating at least one actuator demand signal with each ofthe at least one of the coordinator subsystems, the at least oneactuator demand signal being determined according to the actuatorcapabilities and the at least one coordinator demand signal outputted tothe at least one of the coordinator subsystems; and outputting the atleast one actuator demand signal to the at least one actuator controlsubsystem; wherein a combination of each at least one actuator demandsignal provides directions for the at least one actuator controlsubsystem to perform the vehicle behavior modification of the intendeddriving demand; and wherein the at least one coordinator demand signalcomprises a plurality of coordinator demand signals.
 6. The method ofcontrolling a vehicle of claim 1, further including: inputting actuatorstate measurements into the at least one actuator control subsystem;wherein the actuator capabilities of the at least one actuator controlsubsystem are determined according to the actuator state measurements.7. The method of controlling a vehicle of claim 6, wherein: thecoordinator capabilities for the associated one of the plurality ofcoordinator subsystems are determined according to the actuatorcapabilities of the at least one actuator control subsystem outputtingthe actuator capabilities to the associated one of the plurality ofcoordinator subsystems.
 8. A vehicle control system comprising: avehicle motion control subsystem having a control input and a controloutput, the control input communicating an intended driving demand tothe vehicle motion control subsystem, the intended driving demandrequesting a vehicle behavior modification; a plurality of coordinatorsubsystems, each coordinator subsystem including a coordinator input anda coordinator output, each coordinator subsystem communicatingcoordinator capabilities of the coordinator subsystem to the controlinput of the vehicle motion control subsystem; and at least one actuatorcontrol subsystem for each coordinator subsystem, each actuator controlsubsystem having an actuator output communicating actuator capabilitiesof the actuator control subsystem to the coordinator input of anassociated one of the plurality of coordinator subsystems; wherein thevehicle motion control subsystem calculates at least one coordinatordemand signal, the at least one coordinator demand signal beingdetermined according to the coordinator capabilities and the intendeddriving demand; wherein the vehicle motion control subsystem outputs theat least one coordinator demand signal to the coordinator input of atleast one of the coordinator subsystems; wherein each coordinatorsubsystem calculates at least one actuator demand signal, the at leastone actuator demand signal being determined according to the actuatorcapabilities and the at least one coordinator demand signal outputted tothe at least one of the coordinator subsystems; wherein each coordinatorsubsystem outputs the at least one actuator demand signal to at leastone actuator control subsystem; and wherein a combination of each atleast one actuator demand signal provides directions for the at leastone actuator control subsystem to perform the vehicle behaviormodification of the intended driving demand.
 9. A vehicle control systemcomprising: a vehicle motion control subsystem having a control inputand a control output, the control input communicating an intendeddriving demand to the vehicle motion control subsystem, the intendeddriving demand requesting a vehicle behavior modification; a pluralityof coordinator subsystems, each coordinator subsystem including acoordinator input and a coordinator output, each coordinator subsystemcommunicating coordinator capabilities of the coordinator subsystem tothe control input of the vehicle motion control subsystem; and at leastone actuator control subsystem for each coordinator subsystem, eachactuator control subsystem having an actuator output communicatingactuator capabilities of the actuator control subsystem to thecoordinator input of an associated one of the plurality of coordinatorsubsystems; wherein the vehicle motion control subsystem calculates atleast one coordinator demand signal, the at least one coordinator demandsignal being determined according to the coordinator capabilities andthe intended driving demand; wherein the vehicle motion controlsubsystem outputs the at least one coordinator demand signal to thecoordinator input of at least one of the coordinator subsystems; whereineach coordinator subsystem calculates at least one actuator demandsignal, the at least one actuator demand signal being determinedaccording to the actuator capabilities and the at least one coordinatordemand signal outputted to the at least one of the coordinatorsubsystems; wherein each coordinator subsystem outputs the at least oneactuator demand signal to at least one actuator control subsystem; andwherein a combination of each at least one actuator demand signalprovides directions for the at least one actuator control subsystem toperform the vehicle behavior modification of the intended drivingdemand; and a driver subsystem for receiving inputs from a driver of thevehicle; and at least one active assist program having at least oneactive input, the at least one active assist program having an onsetting wherein the at least one active assist program outputs at leastone active input and an off setting wherein the at least one activeassist program does not output at least one active input; wherein acombination of the driver inputs and the at least one active inputdefine the intended driving demand if the at least one active assistprogram is in the on setting and if the driver of the vehicle does notoverride the at least one active assist program; and wherein the driverinputs define the intended driving demand if the at least one activeassist program is in the off setting or the driver of the vehicleoverrides the at least one active assist program.
 10. The vehiclecontrol system of claim 9, wherein: the at least one active assistprogram receives environmental data.
 11. A vehicle control systemcomprising: a vehicle motion control subsystem having a control inputand a control output, the control input communicating an intendeddriving demand to the vehicle motion control subsystem, the intendeddriving demand requesting a vehicle behavior modification; a pluralityof coordinator subsystems, each coordinator subsystem including acoordinator input and a coordinator output, each coordinator subsystemcommunicating coordinator capabilities of the coordinator subsystem tothe control input of the vehicle motion control subsystem; and at leastone actuator control subsystem for each coordinator subsystem, eachactuator control subsystem having an actuator output communicatingactuator capabilities of the actuator control subsystem to thecoordinator input of an associated one of the plurality of coordinatorsubsystems; wherein the vehicle motion control subsystem calculates atleast one coordinator demand signal, the at least one coordinator demandsignal being determined according to the coordinator capabilities andthe intended driving demand; wherein the vehicle motion controlsubsystem outputs the at least one coordinator demand signal to thecoordinator input of at least one of the coordinator subsystems; whereineach coordinator subsystem calculates at least one actuator demandsignal, the at least one actuator demand signal being determinedaccording to the actuator capabilities and the at least one coordinatordemand signal outputted to the at least one of the coordinatorsubsystems; wherein each coordinator subsystem outputs the at least oneactuator demand signal to at least one actuator control subsystem;wherein a combination of each at least one actuator demand signalprovides directions for the at least one actuator control subsystem toperform the vehicle behavior modification of the intended drivingdemand; and wherein the plurality of coordinator subsystems include asuspension coordinator subsystem, a steering coordinator subsystem and adrive train and brakes coordinator subsystem.
 12. A vehicle controlsystem comprising: a vehicle motion control subsystem having a controlinput and a control output, the control input communicating an intendeddriving demand to the vehicle motion control subsystem, the intendeddriving demand requesting a vehicle behavior modification; a pluralityof coordinator subsystems, each coordinator subsystem including acoordinator input and a coordinator output, each coordinator subsystemcommunicating coordinator capabilities of the coordinator subsystem tothe control input of the vehicle motion control subsystem; and at leastone actuator control subsystem for each coordinator subsystem, eachactuator control subsystem having an actuator output communicatingactuator capabilities of the actuator control subsystem to thecoordinator input of an associated one of the plurality of coordinatorsubsystems; wherein the vehicle motion control subsystem calculates atleast one coordinator demand signal, the at least one coordinator demandsignal being determined according to the coordinator capabilities andthe intended driving demand; wherein the vehicle motion controlsubsystem outputs the at least one coordinator demand signal to thecoordinator input of at least one of the coordinator subsystems; whereineach coordinator subsystem calculates at least one actuator demandsignal, the at least one actuator demand signal being determinedaccording to the actuator capabilities and the at least one coordinatordemand signal outputted to the at least one of the coordinatorsubsystems; wherein each coordinator subsystem outputs the at least oneactuator demand signal to at least one actuator control subsystem;wherein a combination of each at least one actuator demand signalprovides directions for the at least one actuator control subsystem toperform the vehicle behavior modification of the intended drivingdemand; and wherein the at least one coordinator demand signal comprisesa plurality of coordinator demand signals.
 13. The vehicle controlsystem of claim 8, wherein: actuator state measurements are input intothe at least one actuator control subsystem; and the actuatorcapabilities of the at least one actuator control subsystem aredetermined according to the actuator state measurements.
 14. The vehiclecontrol system of claim 13, wherein: the coordinator capabilities forthe associated one of the plurality of coordinator subsystems aredetermined according to the actuator capabilities of the at least oneactuator control subsystem outputting the actuator capabilities to theassociated one of the plurality of coordinator subsystems.
 15. A methodof controlling a vehicle comprising: receiving at least one driver inputfrom a driver of the vehicle; providing at least one active assistprogram having at least one active input, the at least one active assistprogram having an on setting wherein the at least one active assistprogram outputs at least one active input and an off setting wherein theat least one active assist program does not output active input;inputting an intended driving demand for implementing a vehicle behaviormodification into a vehicle motion control subsystem; proving animplementation subsystem; and outputting at least a portion of theintended driving demand from the vehicle motion control subsystem to theimplementation subsystem; wherein the intended driving demand is derivedfrom a combination of the at least one driver input and the at least oneactive input if the at least one active assist program is in the onsetting and if the driver of the vehicle does not overrule the at leastone active assist program, otherwise the intended driving demand isderived from the at least one driver input.
 16. A method of controllinga vehicle comprising: receiving at least one driver input from a driverof the vehicle; providing at least one active assist program having atleast one active input, the at least one active assist program having anon setting wherein the at least one active assist program outputs atleast one active input and an off setting wherein the at least oneactive assist program does not output at least one active input;inputting an intended driving demand for implementing a vehicle behaviormodification into a vehicle motion control subsystem; proving animplementation subsystem; and outputting at least a portion of theintended driving demand from the vehicle motion control subsystem to theimplementation subsystem; wherein the intended driving demand is derivedfrom a combination of the at least one driver input and the at least oneactive input if the at least one active assist program is in the onsetting and if the driver of the vehicle does not overrule the at leastone active assist program, otherwise the intended driving demand isderived from the at least one driver input; wherein the implementationsubsystem includes a plurality of coordinator subsystems and at leastone actuator control subsystem for each coordinator subsystem; andfurther including the steps of: outputting actuator capabilities of theat least one actuator control subsystem to an associated one of theplurality of coordinator subsystems; outputting coordinator capabilitiesof each coordinator subsystem to the vehicle motion control subsystem;calculating at least one coordinator demand signal with the vehiclemotion control subsystem, the at least one coordinator demand signalbeing determined according to the coordinator capabilities and theintended driving demand; the step of outputting at least a portion ofthe intended driving demand includes outputting the at least onecoordinator demand signal to at least one of the coordinator subsystems;calculating at least one actuator demand signal with each of the atleast one of the coordinator subsystems, the at least one actuatordemand signal being determined according to the actuator capabilitiesand the at least one coordinator demand signal outputted to the at leastone of the coordinator subsystem; and outputting the at least oneactuator demand signal to the at least one actuator control subsystem;wherein the at least one actuator demand signal provides directions forthe at least one actuator control subsystem to perform the vehiclebehavior modification of the intended driving demand.
 17. The method ofcontrolling a vehicle of claim 16, further including: inputting actuatorstate measurements into the at least one actuator control subsystem;wherein the actuator capabilities of the at least one actuator controlsubsystem are determined according to the actuator state measurements.18. The method of controlling a vehicle of claim 17, wherein: thecoordinator capabilities for the associated one of the plurality ofcoordinator subsystems are determined according to the actuatorcapabilities of the at least one actuator control subsystem outputtingthe actuator capabilities to the associated one of the plurality ofcoordinator subsystems.
 19. The method of controlling a vehicle of claim16, wherein: the plurality of coordinator subsystems include asuspension coordinator subsystem, a steering coordinator subsystem and adrive train and brakes coordinator subsystem.
 20. The method ofcontrolling a vehicle of claim 16, further including: the at least onecoordinator demand signal comprises a plurality of coordinator demandsignals.
 21. A method of controlling a vehicle comprising: inputting anintended driving demand to a vehicle motion control subsystem, theintended driving demand requesting a vehicle behavior modification;providing a plurality of coordinator subsystems; providing at least oneactuator control subsystem for each coordinator subsystem; outputtinginformation concerning actuator limitations of the at least one actuatorcontrol subsystem to an associated one of the plurality of coordinatorsubsystems; outputting information concerning coordinator limitations ofeach coordinator subsystem to the vehicle motion control subsystem;calculating at least one coordinator demand signal with the vehiclemotion control subsystem, the at least one coordinator demand signalbeing determined according to the information concerning coordinatorlimitations and the intended driving demand; outputting the at least onecoordinator demand signal to at least one of the coordinator subsystems;calculating at least one actuator demand signal with each of the atleast one of the coordinator subsystems, the at least one actuatordemand signal being determined according to the information concerningactuator limitations and the at least one coordinator demand signaloutputted to the at least one of the coordinator subsystems; andoutputting the at least one actuator demand signal to the at least oneactuator control subsystem; wherein a combination of each at least oneactuator demand signal provides directions for the at least one actuatorcontrol subsystem to perform the vehicle behavior modification of theintended driving demand.
 22. A vehicle control system comprising: avehicle motion control subsystem having a control input and a controloutput, the control input communicating an intended driving demand tothe vehicle motion control subsystem, the intended driving demandrequesting a vehicle behavior modification; a plurality of coordinatorsubsystems, each coordinator subsystem including a coordinator input anda coordinator output, each coordinator subsystem communicatinginformation concerning coordinator limitations of the coordinatorsubsystem to the system input of the vehicle motion control subsystem;and at least one actuator control subsystem for each coordinatorsubsystem, each actuator control subsystem having an actuator outputcommunicating actuator information concerning limitations of theactuator control subsystem to the coordinator input of an associated oneof the plurality of coordinator subsystems; wherein the vehicle motioncontrol subsystem calculates at least one coordinator demand signal, theat least one coordinator demand signal being determined according to thecoordinator information concerning limitations and the intended drivingdemand; wherein the vehicle motion control subsystem outputs the atleast one coordinator demand signal to the coordinator input of at leastone of the coordinator subsystems; wherein each coordinator subsystemcalculates at least one actuator demand signal, the at least oneactuator demand signal being determined according to the actuatorinformation concerning limitations and the at least one coordinatordemand signal outputted to the at least one of the coordinatorsubsystems; wherein each coordinator subsystem outputs the at least oneactuator demand signal to at least one actuator control subsystem; andwherein a combination of each at least one actuator demand signalprovides directions for the at least one actuator control subsystem toperform the vehicle behavior modification of the intended drivingdemand.